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<div class="title">range_image_planar.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_RANGE_IMAGE_PLANAR_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_RANGE_IMAGE_PLANAR_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/range_image/range_image.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html">   52</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_range_image_planar.html">RangeImagePlanar</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="comment">// =====TYPEDEFS=====</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a> <a class="code" href="classpcl_1_1_point_cloud.html">BaseClass</a>;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;RangeImagePlanar&gt; Ptr;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const RangeImagePlanar&gt; ConstPtr;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="comment">// =====CONSTRUCTOR &amp; DESTRUCTOR=====</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#aa9f19352f5b5d4655b20fb976c054d18">   62</a></span>&#160;<span class="comment"></span>      PCL_EXPORTS <a class="code" href="classpcl_1_1_range_image_planar.html#aa9f19352f5b5d4655b20fb976c054d18">RangeImagePlanar</a> ();</div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a397338f0c23eb42ea10c903563e11342">   64</a></span>&#160;      PCL_EXPORTS <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_range_image_planar.html#a397338f0c23eb42ea10c903563e11342">~RangeImagePlanar</a> ();</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>* </div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a32b6b82b559574477544219f4444e12d">   69</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_planar.html#a32b6b82b559574477544219f4444e12d">getNew</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classpcl_1_1_range_image_planar.html#aa9f19352f5b5d4655b20fb976c054d18">RangeImagePlanar</a>; }</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      PCL_EXPORTS <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#abd9ed7e2765d0f7cbb64ae9c890543e2">   73</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_planar.html#abd9ed7e2765d0f7cbb64ae9c890543e2">copyTo</a> (<a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; other) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="comment">// =====PUBLIC METHODS=====</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="comment"></span>      <span class="keyword">inline</span> Ptr </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a139d1db3bb9a43315aa8e360bb2902d1">   78</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_planar.html#a139d1db3bb9a43315aa8e360bb2902d1">makeShared</a> () { <span class="keywordflow">return</span> Ptr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_range_image_planar.html">RangeImagePlanar</a> (*<span class="keyword">this</span>)); } </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      PCL_EXPORTS <span class="keywordtype">void</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a751d0027979b31ccb2dbde563c8af11e">   91</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_planar.html#a751d0027979b31ccb2dbde563c8af11e">setDisparityImage</a> (<span class="keyword">const</span> <span class="keywordtype">float</span>* disparity_image, <span class="keywordtype">int</span> di_width, <span class="keywordtype">int</span> di_height,</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                         <span class="keywordtype">float</span> focal_length, <span class="keywordtype">float</span> base_line, <span class="keywordtype">float</span> desired_angular_resolution=-1);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      PCL_EXPORTS <span class="keywordtype">void</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#ae62978a6c6a5f50a794b930d104ebd24">  107</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_planar.html#ae62978a6c6a5f50a794b930d104ebd24">setDepthImage</a> (<span class="keyword">const</span> <span class="keywordtype">float</span>* depth_image, <span class="keywordtype">int</span> di_width, <span class="keywordtype">int</span> di_height, <span class="keywordtype">float</span> di_center_x, <span class="keywordtype">float</span> di_center_y,</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                     <span class="keywordtype">float</span> di_focal_length_x, <span class="keywordtype">float</span> di_focal_length_y, <span class="keywordtype">float</span> desired_angular_resolution=-1);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      PCL_EXPORTS <span class="keywordtype">void</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a07267e36bbb35ec1e4d43d9001884a00">  123</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_planar.html#a07267e36bbb35ec1e4d43d9001884a00">setDepthImage</a> (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span>* depth_image, <span class="keywordtype">int</span> di_width, <span class="keywordtype">int</span> di_height, <span class="keywordtype">float</span> di_center_x, <span class="keywordtype">float</span> di_center_y,</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                     <span class="keywordtype">float</span> di_focal_length_x, <span class="keywordtype">float</span> di_focal_length_y, <span class="keywordtype">float</span> desired_angular_resolution=-1);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudType&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <a class="code" href="classpcl_1_1_range_image_planar.html#a47fc71b0700792cb0b078e9bbbc537f5">createFromPointCloudWithFixedSize</a> (<span class="keyword">const</span> PointCloudType&amp; point_cloud,</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                                         <span class="keywordtype">int</span> di_width, <span class="keywordtype">int</span> di_height, <span class="keywordtype">float</span> di_center_x, <span class="keywordtype">float</span> di_center_y,</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                                         <span class="keywordtype">float</span> di_focal_length_x, <span class="keywordtype">float</span> di_focal_length_y,</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                                         <span class="keyword">const</span> Eigen::Affine3f&amp; sensor_pose,</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;                                         CoordinateFrame coordinate_frame=CAMERA_FRAME, <span class="keywordtype">float</span> noise_level=0.0f,</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;                                         <span class="keywordtype">float</span> min_range=0.0f);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="comment">// Since we reimplement some of these overloaded functions, we have to do the following:</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">RangeImage::calculate3DPoint</a>;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">RangeImage::getImagePoint</a>;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keyword">virtual</span> <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <a class="code" href="classpcl_1_1_range_image_planar.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (<span class="keywordtype">float</span> image_x, <span class="keywordtype">float</span> image_y, <span class="keywordtype">float</span> range, Eigen::Vector3f&amp; point) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keyword">virtual</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <a class="code" href="classpcl_1_1_range_image_planar.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point, <span class="keywordtype">float</span>&amp; image_x, <span class="keywordtype">float</span>&amp; image_y, <span class="keywordtype">float</span>&amp; range) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      PCL_EXPORTS <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a9fc7e3fe0e7c8745b01c81e20a26678a">  185</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_planar.html#a9fc7e3fe0e7c8745b01c81e20a26678a">getSubImage</a> (<span class="keywordtype">int</span> sub_image_image_offset_x, <span class="keywordtype">int</span> sub_image_image_offset_y, <span class="keywordtype">int</span> sub_image_width,</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                   <span class="keywordtype">int</span> sub_image_height, <span class="keywordtype">int</span> combine_pixels, <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; sub_image) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      PCL_EXPORTS <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a68bebf8ca1c0c19deaa7769b3a43be7a">  190</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_planar.html#a68bebf8ca1c0c19deaa7769b3a43be7a">getHalfImage</a> (<a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; half_image) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#aa3165ef71f905675c934684f796fbded">  194</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_planar.html#aa3165ef71f905675c934684f796fbded">getFocalLengthX</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> focal_length_x_; }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a4c39ae227e1b926115d0d199c610840c">  198</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_planar.html#a4c39ae227e1b926115d0d199c610840c">getFocalLengthY</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_range_image_planar.html#aa329fde53679199bc7b295ad324d2d27">focal_length_y_</a>; }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a1617298e3285d0d2508984f5f51e3337">  202</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_planar.html#a1617298e3285d0d2508984f5f51e3337">getCenterX</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> center_x_; }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a7c9a1e092b286b7100edfce18bc16f6e">  206</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_planar.html#a7c9a1e092b286b7100edfce18bc16f6e">getCenterY</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_range_image_planar.html#a61fa15b24e42e2be6f4440c2b8e396ab">center_y_</a>; }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#aa329fde53679199bc7b295ad324d2d27">  210</a></span>&#160;      <span class="keywordtype">float</span> focal_length_x_, <a class="code" href="classpcl_1_1_range_image_planar.html#aa329fde53679199bc7b295ad324d2d27">focal_length_y_</a>; </div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a664df606b14bc13081320a248ccd553d">  211</a></span>&#160;      <span class="keywordtype">float</span> focal_length_x_reciprocal_, <a class="code" href="classpcl_1_1_range_image_planar.html#a664df606b14bc13081320a248ccd553d">focal_length_y_reciprocal_</a>;  </div>
<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a61fa15b24e42e2be6f4440c2b8e396ab">  212</a></span>&#160;      <span class="keywordtype">float</span> center_x_, <a class="code" href="classpcl_1_1_range_image_planar.html#a61fa15b24e42e2be6f4440c2b8e396ab">center_y_</a>;      </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  };</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;}  <span class="comment">// namespace end</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;<span class="preprocessor">#include &lt;pcl/range_image/impl/range_image_planar.hpp&gt;</span>  <span class="comment">// Definitions of templated and inline functions</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_RANGE_IMAGE_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointWithRange &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html"><div class="ttname"><a href="classpcl_1_1_range_image.html">pcl::RangeImage</a></div><div class="ttdoc">RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...</div><div class="ttdef"><b>Definition:</b> range_image.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a1acc16b4b5fb7071175bada62a5b75d0"><div class="ttname"><a href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">pcl::RangeImage::calculate3DPoint</a></div><div class="ttdeci">void calculate3DPoint(float image_x, float image_y, float range, PointWithRange &amp;point) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:585</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a7a53bfc9f4a3365ee8e62513ae37eb5c"><div class="ttname"><a href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">pcl::RangeImage::getImagePoint</a></div><div class="ttdeci">virtual void getImagePoint(const Eigen::Vector3f &amp;point, float &amp;image_x, float &amp;image_y, float &amp;range) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:352</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html">pcl::RangeImagePlanar</a></div><div class="ttdoc">RangeImagePlanar is derived from the original range image and differs from it because it's not a sphe...</div><div class="ttdef"><b>Definition:</b> range_image_planar.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a07267e36bbb35ec1e4d43d9001884a00"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a07267e36bbb35ec1e4d43d9001884a00">pcl::RangeImagePlanar::setDepthImage</a></div><div class="ttdeci">PCL_EXPORTS void setDepthImage(const unsigned short *depth_image, int di_width, int di_height, float di_center_x, float di_center_y, float di_focal_length_x, float di_focal_length_y, float desired_angular_resolution=-1)</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a139d1db3bb9a43315aa8e360bb2902d1"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a139d1db3bb9a43315aa8e360bb2902d1">pcl::RangeImagePlanar::makeShared</a></div><div class="ttdeci">Ptr makeShared()</div><div class="ttdoc">Get a boost shared pointer of a copy of this</div><div class="ttdef"><b>Definition:</b> range_image_planar.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a1617298e3285d0d2508984f5f51e3337"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a1617298e3285d0d2508984f5f51e3337">pcl::RangeImagePlanar::getCenterX</a></div><div class="ttdeci">float getCenterX() const</div><div class="ttdoc">Getter for the principal point in X</div><div class="ttdef"><b>Definition:</b> range_image_planar.h:202</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a1acc16b4b5fb7071175bada62a5b75d0"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a1acc16b4b5fb7071175bada62a5b75d0">pcl::RangeImagePlanar::calculate3DPoint</a></div><div class="ttdeci">void calculate3DPoint(float image_x, float image_y, float range, PointWithRange &amp;point) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:585</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a32b6b82b559574477544219f4444e12d"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a32b6b82b559574477544219f4444e12d">pcl::RangeImagePlanar::getNew</a></div><div class="ttdeci">virtual RangeImage * getNew() const</div><div class="ttdef"><b>Definition:</b> range_image_planar.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a397338f0c23eb42ea10c903563e11342"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a397338f0c23eb42ea10c903563e11342">pcl::RangeImagePlanar::~RangeImagePlanar</a></div><div class="ttdeci">virtual PCL_EXPORTS ~RangeImagePlanar()</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a47fc71b0700792cb0b078e9bbbc537f5"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a47fc71b0700792cb0b078e9bbbc537f5">pcl::RangeImagePlanar::createFromPointCloudWithFixedSize</a></div><div class="ttdeci">void createFromPointCloudWithFixedSize(const PointCloudType &amp;point_cloud, int di_width, int di_height, float di_center_x, float di_center_y, float di_focal_length_x, float di_focal_length_y, const Eigen::Affine3f &amp;sensor_pose, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f)</div><div class="ttdef"><b>Definition:</b> range_image_planar.hpp:50</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a4c39ae227e1b926115d0d199c610840c"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a4c39ae227e1b926115d0d199c610840c">pcl::RangeImagePlanar::getFocalLengthY</a></div><div class="ttdeci">float getFocalLengthY() const</div><div class="ttdoc">Getter for the focal length in Y</div><div class="ttdef"><b>Definition:</b> range_image_planar.h:198</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a61fa15b24e42e2be6f4440c2b8e396ab"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a61fa15b24e42e2be6f4440c2b8e396ab">pcl::RangeImagePlanar::center_y_</a></div><div class="ttdeci">float center_y_</div><div class="ttdoc">The principle point of the image</div><div class="ttdef"><b>Definition:</b> range_image_planar.h:212</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a664df606b14bc13081320a248ccd553d"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a664df606b14bc13081320a248ccd553d">pcl::RangeImagePlanar::focal_length_y_reciprocal_</a></div><div class="ttdeci">float focal_length_y_reciprocal_</div><div class="ttdoc">1/focal_length -&gt; for internal use</div><div class="ttdef"><b>Definition:</b> range_image_planar.h:211</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a68bebf8ca1c0c19deaa7769b3a43be7a"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a68bebf8ca1c0c19deaa7769b3a43be7a">pcl::RangeImagePlanar::getHalfImage</a></div><div class="ttdeci">virtual PCL_EXPORTS void getHalfImage(RangeImage &amp;half_image) const</div><div class="ttdoc">Get a range image with half the resolution</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a751d0027979b31ccb2dbde563c8af11e"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a751d0027979b31ccb2dbde563c8af11e">pcl::RangeImagePlanar::setDisparityImage</a></div><div class="ttdeci">PCL_EXPORTS void setDisparityImage(const float *disparity_image, int di_width, int di_height, float focal_length, float base_line, float desired_angular_resolution=-1)</div><div class="ttdoc">Create the image from an existing disparity image.</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a7a53bfc9f4a3365ee8e62513ae37eb5c"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">pcl::RangeImagePlanar::getImagePoint</a></div><div class="ttdeci">virtual void getImagePoint(const Eigen::Vector3f &amp;point, float &amp;image_x, float &amp;image_y, float &amp;range) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:352</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a7c9a1e092b286b7100edfce18bc16f6e"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a7c9a1e092b286b7100edfce18bc16f6e">pcl::RangeImagePlanar::getCenterY</a></div><div class="ttdeci">float getCenterY() const</div><div class="ttdoc">Getter for the principal point in Y</div><div class="ttdef"><b>Definition:</b> range_image_planar.h:206</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a9fc7e3fe0e7c8745b01c81e20a26678a"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a9fc7e3fe0e7c8745b01c81e20a26678a">pcl::RangeImagePlanar::getSubImage</a></div><div class="ttdeci">virtual PCL_EXPORTS void getSubImage(int sub_image_image_offset_x, int sub_image_image_offset_y, int sub_image_width, int sub_image_height, int combine_pixels, RangeImage &amp;sub_image) const</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_aa3165ef71f905675c934684f796fbded"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#aa3165ef71f905675c934684f796fbded">pcl::RangeImagePlanar::getFocalLengthX</a></div><div class="ttdeci">float getFocalLengthX() const</div><div class="ttdoc">Getter for the focal length in X</div><div class="ttdef"><b>Definition:</b> range_image_planar.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_aa329fde53679199bc7b295ad324d2d27"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#aa329fde53679199bc7b295ad324d2d27">pcl::RangeImagePlanar::focal_length_y_</a></div><div class="ttdeci">float focal_length_y_</div><div class="ttdoc">The focal length of the image in pixels</div><div class="ttdef"><b>Definition:</b> range_image_planar.h:210</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_aa9f19352f5b5d4655b20fb976c054d18"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#aa9f19352f5b5d4655b20fb976c054d18">pcl::RangeImagePlanar::RangeImagePlanar</a></div><div class="ttdeci">PCL_EXPORTS RangeImagePlanar()</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_abd9ed7e2765d0f7cbb64ae9c890543e2"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#abd9ed7e2765d0f7cbb64ae9c890543e2">pcl::RangeImagePlanar::copyTo</a></div><div class="ttdeci">virtual PCL_EXPORTS void copyTo(RangeImage &amp;other) const</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_ae62978a6c6a5f50a794b930d104ebd24"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#ae62978a6c6a5f50a794b930d104ebd24">pcl::RangeImagePlanar::setDepthImage</a></div><div class="ttdeci">PCL_EXPORTS void setDepthImage(const float *depth_image, int di_width, int di_height, float di_center_x, float di_center_y, float di_focal_length_x, float di_focal_length_y, float desired_angular_resolution=-1)</div></div>
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